version: 66.04
glider: 5
mission: 7
dive: 190
start: 9 30 109 9 49 59
data:
$ID,5
$MISSION,7
$DIVE,190
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-103823.57
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.674383
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,094137,6350.934,-1311.348,31,1.6,31,-12.5
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-56.8
$GPS2,094908,6350.875,-1311.358,17,1.7,17,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.058,-0.238
$KALMAN_X,-55196.2,-420.7,902.3,-184405.0,-2001.3
$KALMAN_Y,167.5,-289.4,-227.7,249032.1,5049.6
$MHEAD_RNG_PITCHd_Wd,206.2,8241,-14.8,-8.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.42,0.000,2,0.000,0.000,427,2143,2445
$GC,63,-1.22,-146.6,2.5,-4.4,2,116,11.23,2.53,-36.03,0.000,4,0.160,0.075,2469,3535,3428
$GC,372,-1.12,-146.6,42.4,-14.8,16,377,0.15,2.53,0.00,0.000,6,0.097,0.049,2500,2122,3428
$GC,700,-1.08,-146.6,81.0,-10.9,32,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2107,3428
$GC,1008,-1.08,-146.6,115.6,-11.2,47,1012,0.00,2.50,0.00,0.000,4,0.000,0.061,2500,716,3428
$GC,1076,-1.08,-146.6,123.3,-11.5,50,1080,0.00,2.53,0.00,0.000,6,0.000,0.048,2500,2141,3428
$GC,1394,-1.08,-146.6,159.3,-11.7,67,1398,0.00,2.53,0.00,0.000,4,0.000,0.065,2499,3538,3428
$GC,1428,-1.05,-146.6,163.6,-12.2,69,1432,0.00,2.53,0.00,0.000,6,0.000,0.052,2500,2125,3428
$GC,1747,-1.05,-146.6,200.5,-11.4,89,1751,0.00,2.50,0.00,0.000,4,0.000,0.061,2500,716,3428
$GC,1809,-1.05,-146.6,207.6,-11.6,93,1813,0.00,2.50,0.00,0.000,6,0.000,0.049,2500,2127,3429
$GC,2134,-1.05,-146.6,243.8,-11.2,114,2138,0.00,2.55,0.00,0.000,4,0.000,0.063,2500,720,3429
$GC,2179,-1.05,-146.6,249.1,-11.8,117,2183,0.00,2.45,0.00,0.000,6,0.000,0.050,2500,2114,3429
$GC,2503,-1.05,-146.6,286.9,-11.8,138,2508,0.00,2.53,0.00,0.000,4,0.000,0.062,2500,717,3428
$GC,2554,-1.05,-146.6,293.3,-11.8,141,2558,0.00,2.42,0.00,0.000,6,0.000,0.050,2500,2086,3429
$GC,2875,-1.05,-146.6,332.8,-12.4,161,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2086,3429
$GC,3188,-1.05,-146.6,370.4,-12.0,181,3192,0.00,2.47,0.00,0.000,4,0.000,0.064,2500,722,3428
$GC,3227,-1.05,-146.6,375.7,-12.3,183,3233,0.00,2.40,0.00,0.000,6,0.000,0.051,2500,2071,3429
$GC,3545,-1.05,-146.6,414.3,-12.2,204,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2072,3428
$GC,3858,-1.05,-146.6,450.6,-11.2,224,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2072,3428
$GC,4170,-1.05,-146.6,485.0,-10.8,244,4174,0.00,2.47,0.00,0.000,4,0.000,0.064,2500,708,3428
$GC,4204,-1.05,-146.6,488.9,-11.2,246,4208,0.00,2.42,0.00,0.000,6,0.000,0.051,2500,2072,3428
$GC,4525,-1.05,-146.6,522.1,-10.2,266,4529,0.00,2.47,0.00,0.000,4,0.000,0.064,2500,708,3428
$GC,4553,-1.05,-146.6,525.2,-10.0,268,4557,0.00,2.40,0.00,0.000,6,0.000,0.051,2500,2055,3428
$GC,4884,-1.05,-146.6,558.6,-10.8,289,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2055,3427
$GC,5196,-1.05,-146.6,592.5,-11.0,309,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2055,3427
$GC,5508,-1.05,-146.6,626.1,-10.4,329,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2055,3427
$GC,5821,-1.05,-146.6,657.1,-9.8,349,5825,0.00,2.45,0.00,0.000,4,0.000,0.067,2500,718,3427
$GC,5854,-1.05,-146.6,660.8,-11.0,351,5858,0.00,2.38,0.00,0.000,6,0.000,0.054,2500,2049,3427
$GC,6173,-1.05,-146.6,690.1,-8.4,371,6178,0.00,2.70,0.00,0.000,4,0.000,0.072,2500,3537,3427
$GC,6221,-1.05,-146.6,694.4,-9.4,374,6225,0.00,2.67,0.00,0.000,6,0.000,0.061,2500,2060,3426
$GC,6545,-1.05,-146.6,722.2,-9.2,395,6549,0.00,2.42,0.00,0.000,4,0.000,0.070,2500,715,3426
$GC,6578,-1.05,-146.6,725.3,-9.5,397,6583,0.00,2.45,0.00,0.000,6,0.000,0.056,2500,2086,3426
$GC,6897,-1.05,-146.6,754.2,-8.5,417,6902,0.00,2.65,0.00,0.000,4,0.000,0.076,2500,3538,3426
$GC,6936,-1.05,-146.6,757.6,-8.4,419,6942,0.00,2.67,0.00,0.000,6,0.000,0.064,2500,2073,3426
$GC,7255,-1.05,-146.6,785.5,-10.2,440,7260,0.00,2.45,0.00,0.000,4,0.000,0.072,2500,721,3425
$GC,7277,-1.05,-146.6,787.5,-8.6,441,7283,0.00,2.45,0.00,0.000,6,0.000,0.057,2500,2087,3425
$GC,7596,-1.05,-146.6,818.8,-10.0,462,7601,0.00,2.53,0.00,0.000,4,0.000,0.074,2500,713,3425
$GC,7855,-1.42,-146.6,823.9,-0.8,477,7862,0.30,2.42,0.00,0.000,6,0.060,0.057,2426,2084,3424
$STATE,7968,end dive,NO_VERTICAL_VELOCITY
$STATE,7968,begin apogee
$GC,7976,-0.33,0.0,824.0,0.0,485,8111,1.10,0.00,131.18,1.392,6,0.057,0.000,2678,1848,2831
$STATE,8112,end apogee,CONTROL_FINISHED_OK
$STATE,8112,begin climb
$GC,8115,1.22,146.6,823.7,0.0,494,8257,1.50,2.65,133.18,1.341,4,0.055,0.067,3008,3234,2233
$GC,8356,1.15,146.6,810.6,8.7,508,8362,0.00,2.58,0.00,0.000,6,0.000,0.066,3008,1851,2232
$GC,8676,1.08,158.2,786.2,7.6,529,8693,0.15,2.65,11.75,1.181,4,0.100,0.068,2980,3251,2186
$GC,8711,1.11,175.4,783.3,7.4,531,8737,0.00,2.60,17.00,1.234,6,0.000,0.064,2980,1854,2115
$GC,9053,1.13,190.6,758.5,7.4,553,9073,0.00,2.62,14.93,1.228,4,0.000,0.068,2980,3241,2053
$GC,9084,1.15,202.7,755.9,7.6,555,9104,0.00,2.55,12.50,1.193,6,0.000,0.065,2980,1878,2004
$GC,9427,1.18,218.3,730.9,7.4,577,9447,0.00,2.58,14.95,1.230,4,0.000,0.068,2980,3240,1941
$GC,9465,1.27,251.1,727.9,6.8,579,9503,0.20,2.53,30.33,1.279,6,0.055,0.065,3029,1887,1807
$GC,9815,1.19,251.1,692.7,10.2,602,9820,0.12,2.67,0.00,0.000,4,0.100,0.076,3004,438,1807
$GC,9844,1.13,251.1,689.6,10.8,604,9849,0.00,2.58,0.00,0.000,6,0.000,0.058,3004,1858,1807
$GC,10169,1.13,251.1,660.9,8.7,625,10173,0.00,2.55,0.00,0.000,4,0.000,0.068,3004,3258,1807
$GC,10196,1.13,251.1,658.4,9.6,626,10202,0.00,2.58,0.00,0.000,6,0.000,0.065,3004,1863,1807
$GC,10516,1.13,251.1,629.8,8.9,647,10521,0.00,2.60,0.00,0.000,4,0.000,0.074,3004,440,1807
$GC,10534,1.10,251.1,628.0,8.8,648,10538,0.00,2.58,0.00,0.000,6,0.000,0.055,3004,1868,1806
$GC,10853,1.10,251.1,599.3,9.3,668,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1884,1806
$GC,11165,1.10,251.1,569.6,9.5,688,11169,0.00,2.65,0.00,0.000,4,0.000,0.071,3004,440,1806
$GC,11181,1.10,251.1,567.9,9.5,689,11186,0.00,2.55,0.00,0.000,6,0.000,0.053,3004,1864,1806
$GC,11500,1.10,251.1,539.1,9.2,709,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1879,1806
$GC,11813,1.10,251.1,512.1,8.2,729,11817,0.00,2.62,0.00,0.000,4,0.000,0.069,3004,440,1806
$GC,11829,1.10,251.1,510.4,8.8,730,11833,0.00,2.53,0.00,0.000,6,0.000,0.051,3004,1858,1806
$GC,12148,1.10,251.1,482.0,9.2,750,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1871,1806
$GC,12461,1.10,251.1,453.4,9.0,770,12465,0.00,2.50,0.00,0.000,4,0.000,0.062,3004,3258,1806
$GC,12477,1.10,251.1,451.8,8.6,771,12481,0.00,2.55,0.00,0.000,6,0.000,0.057,3004,1848,1807
$GC,12796,1.10,251.1,423.9,9.0,791,12800,0.00,2.58,0.00,0.000,4,0.000,0.061,3004,3260,1807
$GC,12829,1.10,251.1,420.6,9.5,793,12834,0.00,2.53,0.00,0.000,6,0.000,0.056,3004,1860,1807
$GC,13148,1.10,251.1,391.7,9.0,813,13153,0.00,2.55,0.00,0.000,4,0.000,0.061,3004,3259,1808
$GC,13171,1.10,251.1,389.5,9.5,814,13177,0.00,2.47,0.00,0.000,6,0.000,0.055,3004,1881,1808
$GC,13490,1.10,251.1,360.6,9.2,835,13491,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1881,1808
$GC,13802,1.10,251.1,332.4,8.8,855,13806,0.00,2.47,0.00,0.000,4,0.000,0.061,3004,3252,1808
$GC,13841,1.13,251.1,328.7,9.0,857,13847,0.00,2.45,0.00,0.000,6,0.000,0.054,3004,1884,1808
$GC,14160,1.13,251.1,299.9,9.1,878,14164,0.00,2.47,0.00,0.000,4,0.000,0.060,3004,3258,1808
$GC,14194,1.17,251.1,296.8,8.6,880,14198,0.00,2.42,0.00,0.000,6,0.000,0.053,3004,1901,1808
$GC,14513,1.17,251.1,270.1,8.0,900,14514,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1901,1809
$GC,14826,1.17,251.1,242.2,9.3,920,14827,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1901,1809
$GC,15138,1.17,251.1,211.3,10.1,940,15142,0.00,2.45,0.00,0.000,4,0.000,0.059,3004,3255,1810
$GC,15184,1.20,251.1,206.5,10.9,943,15188,0.00,2.40,0.00,0.000,6,0.000,0.051,3004,1905,1810
$GC,15508,1.20,251.1,174.6,9.3,964,15509,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1905,1810
$GC,15831,1.20,251.1,145.9,8.3,984,15835,0.00,2.45,0.00,0.000,4,0.000,0.058,3004,3263,1810
$GC,15849,1.20,251.1,144.2,8.9,985,15853,0.00,2.40,0.00,0.000,6,0.000,0.050,3004,1907,1810
$GC,16182,1.20,251.1,111.4,9.7,1001,16186,0.00,2.62,0.00,0.000,4,0.000,0.064,3004,437,1810
$GC,16209,1.20,251.1,108.7,10.3,1002,16213,0.00,2.62,0.00,0.000,6,0.000,0.047,3004,1929,1810
$GC,16527,1.20,251.1,82.2,8.1,1017,16531,0.00,2.70,0.00,0.000,4,0.000,0.063,3004,441,1811
$GC,16555,1.20,251.1,79.6,8.4,1018,16559,0.00,2.60,0.00,0.000,6,0.000,0.047,3004,1915,1811
$GC,16872,1.24,257.1,53.8,7.8,1033,16881,0.00,0.00,7.53,0.716,6,0.000,0.000,3003,1931,1782
$GC,17182,1.29,257.1,27.4,8.9,1048,17187,0.00,2.70,0.00,0.000,4,0.000,0.063,3004,433,1782
$GC,17216,1.36,299.9,24.8,6.4,1049,17258,0.17,2.60,34.95,0.802,6,0.050,0.047,3049,1930,1607
$STATE,17428,end climb,SURFACE_DEPTH_REACHED
$STATE,17429,begin surface coast
$FINISH,0.7,1.027136
$STATE,17452,end surface coast,CONTROL_FINISHED_OK
$STATE,17452,begin surface
$SM_CCo,17535,0.00,0.000,0,0,1607,300.25
$SM_GC,1.58,11.43,0.00,0.00,0.037,0.000,0.000,424,2133,1607,-10.58,0.08,300.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1819
$TCM_TEMP,17.50
$XPDR_PINGS,52
$24V_AH,23.8,33.553
$10V_AH,10.1,15.311
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.350,172.950,408.275,0.000,0.000,37.763,32.991,242.970,20.750,0.000,0.000,17.060,1866.570,12779.132,526.942,2137.419,668.866,33.353,1611.149,0.000,2084.894,0.000,53.486,0.000
$DEVICE_MAMPS,159.536,75.933,1392.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,727.151,776.870,558.956,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53652,1061
$CAP_FILE_SIZE,144836,0
$CFSIZE,254472192,241045504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,300909,144331,6347.248,-1314.839,40,1.7,40,-12.5